define mulayim_sonar ranger
(
    # number of sonars
    scount 4

    # define pose of each transducer [xpos ypos heading]
    spose[0] [0.75 0.1875 0] # front left tooth
    spose[1] [0.75 -0.1875 0] # front right tooth
    spose[2] [0.25 0.5 30] # left corner
    spose[3] [0.25 -0.5 -30] # right corner

    # define field of view of each transducer
    # [range_min range_max view_angle]
    sview [0.3 2.0 10]

    # define size of each transducer in meters
    ssize [0.01 0.05]

)
